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In this talk I will discuss research we have been conducting on the recognition of engagement and a re-usable module for engagement recognition in human-robot dialogs. I will discuss observations from studying human-human dialogues in which people undertake tasks that not only require them to discuss and collaborate but also to make use of deictic gestures and mutual facial gaze. We use these observations to define connection events and then discuss a re-usable module for recognition of such events by a robot. I will demonstrate results of our efforts in the "pointing game."